calculate average of jacobis and residual to reduce to single point in caclualtion - does not produce desired result

include/msckf_vio/feature.hpp

@@ -915,7 +915,157 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
   is_anchored = true;
   return true;
 }
+/*
+bool Feature::initializeRho(const CamStateServer& cam_states) {
 
+  // Organize camera poses and feature observations properly.
+  std::vector<Eigen::Isometry3d,
+    Eigen::aligned_allocator<Eigen::Isometry3d> > cam_poses(0);
+  std::vector<Eigen::Vector2d,
+    Eigen::aligned_allocator<Eigen::Vector2d> > measurements(0);
+
+  for (auto& m : observations) {
+    // TODO: This should be handled properly. Normally, the
+    //    required camera states should all be available in
+    //    the input cam_states buffer.
+    auto cam_state_iter = cam_states.find(m.first);
+    if (cam_state_iter == cam_states.end()) continue;
+
+    // Add the measurement.
+    measurements.push_back(m.second.head<2>());
+    measurements.push_back(m.second.tail<2>());
+
+    // This camera pose will take a vector from this camera frame
+    // to the world frame.
+    Eigen::Isometry3d cam0_pose;
+    cam0_pose.linear() = quaternionToRotation(
+        cam_state_iter->second.orientation).transpose();
+    cam0_pose.translation() = cam_state_iter->second.position;
+
+    Eigen::Isometry3d cam1_pose;
+    cam1_pose = cam0_pose * CAMState::T_cam0_cam1.inverse();
+
+    cam_poses.push_back(cam0_pose);
+    cam_poses.push_back(cam1_pose);
+  }
+
+  // All camera poses should be modified such that it takes a
+  // vector from the first camera frame in the buffer to this
+  // camera frame.
+  Eigen::Isometry3d T_c0_w = cam_poses[0];
+  T_anchor_w = T_c0_w;
+  for (auto& pose : cam_poses)
+    pose = pose.inverse() * T_c0_w;
+
+  // Generate initial guess
+  Eigen::Vector3d initial_position(0.0, 0.0, 0.0);
+  generateInitialGuess(cam_poses[cam_poses.size()-1], measurements[0],
+      measurements[measurements.size()-1], initial_position);
+  Eigen::Vector3d solution(
+      initial_position(0)/initial_position(2),
+      initial_position(1)/initial_position(2),
+      1.0/initial_position(2));
+
+  // Apply Levenberg-Marquart method to solve for the 3d position.
+  double lambda = optimization_config.initial_damping;
+  int inner_loop_cntr = 0;
+  int outer_loop_cntr = 0;
+  bool is_cost_reduced = false;
+  double delta_norm = 0;
+
+  // Compute the initial cost.
+  double total_cost = 0.0;
+  for (int i = 0; i < cam_poses.size(); ++i) {
+    double this_cost = 0.0;
+    cost(cam_poses[i], solution, measurements[i], this_cost);
+    total_cost += this_cost;
+  }
+
+  // Outer loop.
+  do {
+    Eigen::Matrix3d A = Eigen::Matrix3d::Zero();
+    Eigen::Vector3d b = Eigen::Vector3d::Zero();
+
+    for (int i = 0; i < cam_poses.size(); ++i) {
+      Eigen::Matrix<double, 2, 3> J;
+      Eigen::Vector2d r;
+      double w;
+
+      jacobian(cam_poses[i], solution, measurements[i], J, r, w);
+
+      if (w == 1) {
+        A += J.transpose() * J;
+        b += J.transpose() * r;
+      } else {
+        double w_square = w * w;
+        A += w_square * J.transpose() * J;
+        b += w_square * J.transpose() * r;
+      }
+    }
+
+    // Inner loop.
+    // Solve for the delta that can reduce the total cost.
+    do {
+      Eigen::Matrix3d damper = lambda * Eigen::Matrix3d::Identity();
+      Eigen::Vector3d delta = (A+damper).ldlt().solve(b);
+      Eigen::Vector3d new_solution = solution - delta;
+      delta_norm = delta.norm();
+
+      double new_cost = 0.0;
+      for (int i = 0; i < cam_poses.size(); ++i) {
+        double this_cost = 0.0;
+        cost(cam_poses[i], new_solution, measurements[i], this_cost);
+        new_cost += this_cost;
+      }
+
+      if (new_cost < total_cost) {
+        is_cost_reduced = true;
+        solution = new_solution;
+        total_cost = new_cost;
+        lambda = lambda/10 > 1e-10 ? lambda/10 : 1e-10;
+      } else {
+        is_cost_reduced = false;
+        lambda = lambda*10 < 1e12 ? lambda*10 : 1e12;
+      }
+
+    } while (inner_loop_cntr++ <
+        optimization_config.inner_loop_max_iteration && !is_cost_reduced);
+
+    inner_loop_cntr = 0;
+
+  } while (outer_loop_cntr++ <
+      optimization_config.outer_loop_max_iteration &&
+      delta_norm > optimization_config.estimation_precision);
+
+  // Covert the feature position from inverse depth
+  // representation to its 3d coordinate.
+  Eigen::Vector3d final_position(solution(0)/solution(2),
+      solution(1)/solution(2), 1.0/solution(2));
+
+  // Check if the solution is valid. Make sure the feature
+  // is in front of every camera frame observing it.
+  bool is_valid_solution = true;
+  for (const auto& pose : cam_poses) {
+    Eigen::Vector3d position =
+      pose.linear()*final_position + pose.translation();
+    if (position(2) <= 0) {
+      is_valid_solution = false;
+      break;
+    }
+  }
+
+  //save inverse depth distance from camera
+  anchor_rho = solution(2);
+
+  // Convert the feature position to the world frame.
+  position = T_c0_w.linear()*final_position + T_c0_w.translation();
+
+  if (is_valid_solution)
+    is_initialized = true;
+
+  return is_valid_solution;
+}
+*/
 bool Feature::initializePosition(const CamStateServer& cam_states) {
 
   // Organize camera poses and feature observations properly.

launch/msckf_vio_tum.launch

@@ -21,10 +21,10 @@
       <param name="PHOTOMETRIC" value="true"/>
 
       <!-- Debugging Flaggs -->
-      <param name="PrintImages" value="false"/>
+      <param name="PrintImages" value="true"/>
       <param name="GroundTruth" value="false"/>
 
-      <param name="patch_size_n" value="3"/>
+      <param name="patch_size_n" value="7"/>
       <!-- Calibration parameters -->
       <rosparam command="load" file="$(arg calibration_file)"/>
 

src/msckf_vio.cpp

@@ -1233,11 +1233,17 @@ void MsckfVio::PhotometricMeasurementJacobian(
   const Vector3d& t_c0_w = cam_state.position;
 
   // one line of the NxN Jacobians
+  Matrix<double, 1, 1> H_rho;
   Matrix<double, 1, 6> H_xi;
   Matrix<double, 1, 6> H_xA;
-
+/*
   MatrixXd H_xl = MatrixXd::Zero(feature.anchorPatch_3d.size(), 6);
   MatrixXd H_xAl = MatrixXd::Zero(feature.anchorPatch_3d.size(), 6);
+  MatrixXd H_rhol = MatrixXd::Zero(feature.anchorPatch_3d.size(), 1);
+*/
+  MatrixXd H_xl = MatrixXd::Zero(1, 6);
+  MatrixXd H_xAl = MatrixXd::Zero(1, 6);
+  MatrixXd H_rhol = MatrixXd::Zero(1, 1);
 
   auto frame = cam0.moving_window.find(cam_state_id)->second.image;
   
@@ -1252,25 +1258,35 @@ void MsckfVio::PhotometricMeasurementJacobian(
   cv::Point2f residualVector(0,0);
   double res_sum = 0;
 
+  // get patch around feature in current image
+  cv::Point2f p_f(feature.observations.find(cam_state_id)->second(0),feature.observations.find(cam_state_id)->second(1));
+  // move to real pixels
+  p_f = image_handler::distortPoint(p_f, cam0.intrinsics, cam0.distortion_model, cam0.distortion_coeffs);
+
+  std::vector<double> cur_image_irr;
+  std::vector<cv::Point2f> cur_image_p;
+  for(int i = 0; i<N; i++)
+  {
+    for(int j = 0; j<N ; j++)
+    {
+      cur_image_p.push_back(cv::Point2f(p_f.x + (i-(N-1)/2), p_f.y + (j-(N-1)/2)));
+      cur_image_irr.push_back(feature.PixelIrradiance(cv::Point2f(p_f.x + (i-(N-1)/2), p_f.y + (j-(N-1)/2)), frame));
+    }
+  }
   for (auto point : feature.anchorPatch_3d)
   {
     Eigen::Vector3d p_c0 = R_w_c0 * (point-t_c0_w);
-    cv::Point2f p_in_c0 = feature.projectPositionToCamera(cam_state, cam_state_id, cam0, point);
+    
-    cv::Point2f p_in_anchor = feature.projectPositionToCamera(anchor_state, anchor_state_id, cam0, point);
-    Matrix<double, 1, 2> dI_dhj = Matrix<double, 1, 2>::Zero();
-
     // add jacobians
-    cv::Point2f pixelDistance = feature.pixelDistanceAt(anchor_state, anchor_state_id, cam0, point);
+    cv::Point2f pixelDistance = feature.pixelDistanceAt(cam_state, cam_state_id, cam0, point);
-
-    std::cout << "pixelDistance: \n" << pixelDistance << std::endl;
-
 
     // calculate derivation for anchor frame, use position for derivation calculation
     // frame derivative calculated convoluting with kernel [-1, 0, 1]
-    dx = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x+1, p_in_anchor.y), frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x-1, p_in_anchor.y), frame);
+    Matrix<double, 1, 2> dI_dhj = Matrix<double, 1, 2>::Zero();
-    dy = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y+1), frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y-1), frame);
+    dx = feature.PixelIrradiance(cv::Point2f(cur_image_p[count].x+1, cur_image_p[count].y), frame) - feature.PixelIrradiance(cv::Point2f(cur_image_p[count].x-1, cur_image_p[count].y), frame);
-    dI_dhj(0, 0) = dx/pixelDistance.x;
+    dy = feature.PixelIrradiance(cv::Point2f(cur_image_p[count].x, cur_image_p[count].y+1), frame) - feature.PixelIrradiance(cv::Point2f(cur_image_p[count].x, cur_image_p[count].y-1), frame);
-    dI_dhj(0, 1) = dy/pixelDistance.y;
+    dI_dhj(0, 0) = (double)dx/pixelDistance.x;
+    dI_dhj(0, 1) = (double)dy/pixelDistance.y;
 
     // Compute the Jacobians.
     Matrix<double, 2, 3> dz_dpc0 = Matrix<double, 2, 3>::Zero();
@@ -1285,8 +1301,6 @@ void MsckfVio::PhotometricMeasurementJacobian(
     dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
     dpc0_dxc.rightCols(3) = -R_w_c0;
 
-    H_xi = dI_dhj*dz_dpc0*dpc0_dxc;
-
     Matrix3d dCpij_dGpij = quaternionToRotation(cam_state.orientation);
 
     //orientation takes camera frame to world frame, we wa
@@ -1302,11 +1316,24 @@ void MsckfVio::PhotometricMeasurementJacobian(
                                                    1/(rho)));
     dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
 
-    H_xA = dI_dhj*dh_dGpij*dGpj_XpAj;
 
+    // Isometry T_anchor_w takes a vector in anchor frame to world frame
+    Matrix<double, 3, 1> dGpj_drhoj = Matrix<double, 3, 1>::Zero();
+    dGpj_drhoj = -feature.T_anchor_w.linear() * Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho*rho), feature.anchorPatch_ideal[count].y/(rho*rho), 1/(rho*rho));
+
+    H_xi = dI_dhj * dz_dpc0 * dpc0_dxc;
+    H_xA = dI_dhj * dh_dGpij * dGpj_XpAj;
+    H_rho = dI_dhj * dh_dGpij * dGpj_drhoj; // 1 x 1
+
+/*
     H_xl.block<1, 6>(count, 0) = H_xi;
     H_xAl.block<1, 6>(count, 0) = H_xA;
-
+    H_rhol.block<1, 1>(count, 0) = H_rho;
+*/
+    H_xl += H_xi;
+    H_xAl += H_xA;
+    H_rhol += H_rho;
+    
     count++;
   }
 
@@ -1317,21 +1344,50 @@ void MsckfVio::PhotometricMeasurementJacobian(
     cv::Point2f p_in_c0 = feature.projectPositionToCamera(cam_state, cam_state_id, cam0, point);
     projectionPatch.push_back(feature.PixelIrradiance(p_in_c0, frame));
   }  
+
   
-  Eigen::VectorXd r_l = Eigen::VectorXd::Zero(count);
+  //Eigen::VectorXd r_l = Eigen::VectorXd::Zero(count);
+Eigen::VectorXd r_l = Eigen::VectorXd::Zero(1);
 
   std::vector<double> residual_v;
-
+  double residual_v_sum = 0;
-  for(int i = 0; i < r_l.size(); i++)
+  for(int i = 0; i < N*N; i++)
   {
-    residual_v.push_back(projectionPatch[i]- feature.anchorPatch[i]);
+    residual_v_sum += cur_image_irr[i] - projectionPatch[i];
-    r_l(i) = projectionPatch[i] - feature.anchorPatch[i];
+    residual_v.push_back(cur_image_irr[i] - projectionPatch[i]);
+    //r_l(i) = cur_image_irr[i] - projectionPatch[i];
   }
 
-  r = r_l;
+  r_l(0) = residual_v_sum/(N*N);
-  H_x = H_xl;
+  H_xl /=(N*N);
-  H_y = H_xAl;
+  H_xAl /= (N*N);
+  H_rhol /= (N*N);
 
+  cout << "dI/dxl\n" << H_xl << endl;
+  cout << "dI/dAl\n" << H_xAl << endl;
+  cout << "dI/drhol\n" << H_rhol << endl;
+
+
+  r = r_l;
+
+  MatrixXd H_xt = MatrixXd::Zero(1, 21+state_server.cam_states.size()*7);
+
+  // set anchor Jakobi
+  // get position of anchor in cam states
+  auto cam_state_anchor = state_server.cam_states.find(feature.observations.begin()->first);
+  int cam_state_cntr_anchor = std::distance(state_server.cam_states.begin(), cam_state_anchor);
+  //H_xt.block(0, 21+cam_state_cntr_anchor*7, N*N, 6) = H_xAl; 
+  H_xt.block(0, 21+cam_state_cntr_anchor*7, 1, 6) = H_xAl; 
+
+  // set frame Jakobi
+  //get position of current frame in cam states
+  auto cam_state_iter = state_server.cam_states.find(cam_state_id);
+  int cam_state_cntr = std::distance(state_server.cam_states.begin(), cam_state_iter);
+  //H_xt.block(0, 21+cam_state_cntr*7, N*N, 6) = H_xl;
+  H_xt.block(0, 21+cam_state_cntr*7, 1, 6) = H_xl;
+  
+  H_x = H_xt;
+  H_y = H_rhol;
 
   std::stringstream ss;
   ss << "INFO:"; // << " anchor: " << cam_state_cntr_anchor << "  frame: " << cam_state_cntr;
@@ -1384,15 +1440,18 @@ void MsckfVio::PhotometricFeatureJacobian(
     if (feature.observations.find(cam_id) ==
         feature.observations.end()) continue;
 
-    valid_cam_state_ids.push_back(cam_id);
+    // if not anchor frame
+    if (cam_id != feature.observations.begin()->first)
+      valid_cam_state_ids.push_back(cam_id);
   }
 
   int jacobian_row_size = 0;
-  jacobian_row_size = N * N * valid_cam_state_ids.size();
+  //jacobian_row_size = N * N * valid_cam_state_ids.size();
+jacobian_row_size = valid_cam_state_ids.size();
 
   MatrixXd H_xi = MatrixXd::Zero(jacobian_row_size,
       21+state_server.cam_states.size()*7);
-  MatrixXd H_yi = MatrixXd::Zero(jacobian_row_size, N*N+state_server.cam_states.size()+1);
+  MatrixXd H_yi = MatrixXd::Zero(jacobian_row_size, 1);
   VectorXd r_i = VectorXd::Zero(jacobian_row_size);
   int stack_cntr = 0;
 
@@ -1413,24 +1472,29 @@ void MsckfVio::PhotometricFeatureJacobian(
 
 
     // Stack the Jacobians.
-    H_xi.block(stack_cntr, 21+cam_state_cntr_anchor*7, H_yl.rows(), H_yl.cols()) = H_yl;
+    H_xi.block(stack_cntr, 0, H_xl.rows(), H_xl.cols()) = H_xl;
-    H_xi.block(stack_cntr, 21+cam_state_cntr*7, H_xl.rows(), H_xl.cols()) = -H_xl;
+    H_yi.block(stack_cntr,0, H_yl.rows(), H_yl.cols()) = H_yl;
 
-    r_i.segment(stack_cntr, N*N) = r_l;
+
-    stack_cntr += N*N;
+    //r_i.segment(stack_cntr, N*N) = r_l;
+    //stack_cntr += N*N;
+    r_i.segment(stack_cntr, 1) = r_l;
+    stack_cntr += 1;
   }
 
-  H_x = H_xi;
+  FullPivLU<MatrixXd> lu(H_yi.transpose());
-  r = r_i;
+  MatrixXd A = lu.kernel();
-
+  H_x = A.transpose() * H_xi;
-  ofstream myfile;
+  r = A.transpose() * r_i;
-  myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
-  myfile << "Hx\n" << H_x << "r\n" << r << "\n x\n" << H_x.colPivHouseholderQr().solve(r) << endl;
-  myfile.close();
-  cout << "---------- LOGGED -------- " << endl; 
 
   if(PRINTIMAGES)
   {
+    ofstream myfile;
+    myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
+    myfile << "Hyi\n" << H_yi << "Hxi\n" << H_xi << "Hx\n" << H_x << "r\n" << r << "\n x\n" << H_x.colPivHouseholderQr().solve(r) << endl;
+    myfile.close();
+    cout << "---------- LOGGED -------- " << endl; 
+
     std::cout << "resume playback" << std::endl;
     nh.setParam("/play_bag", true);
   }
@@ -1516,6 +1580,8 @@ void MsckfVio::featureJacobian(
     const std::vector<StateIDType>& cam_state_ids,
     MatrixXd& H_x, VectorXd& r) 
 {
+  if(PRINTIMAGES)
+    nh.setParam("/play_bag", false);
 
   const auto& feature = map_server[feature_id];
 
@@ -1578,11 +1644,17 @@ void MsckfVio::featureJacobian(
    r = A.transpose() * r_j;
 
   
-  ofstream myfile;
+  if(PRINTIMAGES)
-  myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
+  {
-  myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x.ldlt().solve(r) << endl;
+    ofstream myfile;
-  myfile.close();
+    myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
-  cout << "---------- LOGGED -------- " << endl; 
+    myfile << H_x.colPivHouseholderQr().solve(r) << endl;
+    myfile.close();
+    cout << "---------- LOGGED -------- " << endl; 
+
+    std::cout << "resume playback" << std::endl;
+    nh.setParam("/play_bag", true);
+  }
   return;
 
 }
@@ -1696,7 +1768,6 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
 }
 
 bool MsckfVio::gatingTest(const MatrixXd& H, const VectorXd& r, const int& dof) {
-  return true;
   MatrixXd P1 = H * state_server.state_cov * H.transpose();
 
 
@@ -1806,7 +1877,7 @@ void MsckfVio::removeLostFeatures() {
       featureJacobian(feature.id, cam_state_ids, H_xj, r_j);
 
 
-    if (gatingTest(H_xj, r_j, r_j.size()-1)){ //cam_state_ids.size()-1)) {
+    if (gatingTest(H_xj, r_j, state_server.cam_states.size() - 1)){ //cam_state_ids.size()-1)) {
       H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
       r.segment(stack_cntr, r_j.rows()) = r_j;
       stack_cntr += H_xj.rows();
@@ -1968,7 +2039,7 @@ void MsckfVio::pruneCamStateBuffer() {
     else
       featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
     
-    if (gatingTest(H_xj, r_j, r_j.size()-1)) { //involved_cam_state_ids.size())) {
+    if (gatingTest(H_xj, r_j, involved_cam_state_ids.size() - 1)) { //involved_cam_state_ids.size())) {
       H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
       r.segment(stack_cntr, r_j.rows()) = r_j;
       stack_cntr += H_xj.rows();